Study On Control Technology Of Hemispherical Resonator Gyro

Hemispherical Resonator Gyro(HRG) is a comparatively new type solid rotation-sensing instrument and has a few specific feature such as high precision,high reliability and longevity of service.Based on the principle of viberation and the dynamics of the resonator's fluctuation mathematics model, this paper has studied the force to rebalance (FTR) model, studies and optimizes the unit circuitries, which are important to the HRG's performance. Put forward a new way to improve readout precision of the wave voltage. Researches the weak signal process and filter technology. Studies the resonator frequency temperature characteristic, then designs the middle-frequency tracking band pass filter. It is shown, all the work are helpful to improve the HRG's performance.Applies the control theory and designs the control system. Simulation results show that the control parameter is satisfied the dynamic requirement.The application of Allan variance means in the HRG data procession has been researched in this paper. Based on the building of the AR (2) model of HRG drift data, the HRG drift data are processed using Kalman filter, and the filter results are analyzed and compared with the unfiltered, and the result has proved the advantage of Kalman filter and Allan variance means.